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<!DOCTYPE html>
<html lang="en-US">
<head>
<meta name="msapplication-config" content="/browserconfig.xml"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<meta charset="utf-8"/>
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<title>Drake: Running Drake on macOS ARM hardware via Rosetta 2</title>
<meta
name="description"
content="Drake ("dragon" in Middle English) is a C++ toolbox started by the Robot
Locomotion Group at the MIT Computer Science and Artificial Intelligence
Lab (CSAIL). The development team has now grown significantly, with core
development led by the Toyota Research Institute. It is a collection of
tools for analyzing the dynamics of our robots and building control
systems for them, with a heavy emphasis on optimization-based design/
analysis.
"/>
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<h1>Running Drake on macOS ARM hardware via Rosetta 2</h1>
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<h1 id="instructions">Instructions</h1>
<div class="warning">
<p><strong>The advice on this page is no longer necessary as of current Drake.</strong></p>
<p>For older versions of Drake, users running on Apple’s newer arm64 hardware were
required to run Drake’s x86_64 binaries using Apple’s Rosetta 2 emulation. That
is no longer the case as of v1.9.0. The page serves as a historical record for
how to run Drake x86_64 under Rosetta 2 emulation. Most users should ignore it
and follow one of the typical <a href="/installation.html">installation</a> instructions
instead.</p>
</div>
<p>To run macOS x86_64 pre-compiled Drake binaries on Apple’s newer arm64 hardware,
you must do all of your work in an x86_64 shell:</p>
<ol>
<li>Use <code class="language-plaintext highlighter-rouge">arch -x86_64 /bin/bash</code> to obtain a shell.</li>
<li>In that shell, run <code class="language-plaintext highlighter-rouge">arch</code> (with no arguments).
<ul>
<li>Expect to see <code class="language-plaintext highlighter-rouge">i386</code> as the output, which confirms that the shell is
running as x86_64.</li>
</ul>
</li>
<li>Make sure there is not an ARM version of brew
(i.e., <code class="language-plaintext highlighter-rouge">/opt/homebrew/bin/brew</code>) in your <code class="language-plaintext highlighter-rouge">$PATH</code>.
<ul>
<li>You can use <code class="language-plaintext highlighter-rouge">echo $PATH</code> to see what’s there.</li>
<li>You can use <code class="language-plaintext highlighter-rouge">which -a brew</code> to check which brew will be run.</li>
</ul>
</li>
<li>Install Homebrew as usual from the x86_64 shell.</li>
<li>Install Drake as usual from the x86_64 shell.</li>
</ol>
<h1 id="additional-information">Additional information</h1>
<p>The <code class="language-plaintext highlighter-rouge">arch</code> command serves two purposes; to report the “active” architecture
(when given no arguments), or to run a selected architecture of a universal
binary (e.g., <code class="language-plaintext highlighter-rouge">/bin/bash</code>, <code class="language-plaintext highlighter-rouge">/usr/bin/python</code>).</p>
<p>While the “active” architecture defaults to ARM, having any x86_64 process as
an ancestor appears sufficient to change the “active” architecture, so long as
<code class="language-plaintext highlighter-rouge">arch -arm64</code> is not used. Many programs will respect the reported
architecture, but <code class="language-plaintext highlighter-rouge">brew</code> is an exception, and will always attempt to install
software for the architecture of the <code class="language-plaintext highlighter-rouge">brew</code> executable that is executed; this
is why it is important to ensure that <code class="language-plaintext highlighter-rouge">/opt/homebrew/bin</code> is not in your
<code class="language-plaintext highlighter-rouge">$PATH</code> when attempting to install or run Drake using x86_64 emulation on
ARM. Otherwise, once in x86_64 mode, things will tend to stay that way, such
that accidentally switching back to ARM mode should be rare.</p>
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